Chaos Controlling of Five-bar Underactuated Mechanism Using Linear Negative Feedback Controller *

摘要：

In this paper, the chaotic motion of a five-bar closed chain underactuated mechanism is suppressed into periodical motion with linear negative feedback controller. A method to determining the feedback gains for the controller is proposed based on the optimization technology. With the method, it is possible to obtain the lowest feedback gains for keeping the controller from high-gain feedback and to make controlled system be of asymptotically stable as well.

关键词： Closed chain underactuated mechanism Chaos controlling Linear negative feedback controller

作者: XIE Jin QIN Yuzhu LIU Zhaohui CHEN Yong

作者单位: School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, 610031 FAW-VW Automobile Co. Ltd, Chengdu, Sichuan, 610100

会议类型: 国内会议

会议名称: 2012中国机构与机器科学国际会议

会议地点: 黄山

会议语种:英文

页码: 1-5

在线出版日期: 2012-07-13（万方平台首次上网日期，不代表论文的发表时间）